def animate_box_jack(s_array,L=1,l=0.1,T=10):
"""
Function to generate web-based animation of double-pendulum system
Parameters:
================================================
theta_array:
trajectory of theta1 and theta2, should be a NumPy array with
shape of (2,N)
L1:
length of the first leg
L2:
length of the second leg
T:
length/seconds of animation duration
Returns: None
"""
################################
# Imports required for animation.
from plotly.offline import init_notebook_mode, iplot
from IPython.display import display, HTML
import plotly.graph_objects as go
#######################
# Browser configuration.
def configure_plotly_browser_state():
import IPython
display(IPython.core.display.HTML('''
<script src="/static/components/requirejs/require.js"></script>
<script>
requirejs.config({
paths: {
base: '/static/base',
plotly: 'https://cdn.plot.ly/plotly-1.5.1.min.js?noext',
},
});
</script>
'''))
configure_plotly_browser_state()
init_notebook_mode(connected=False)
###############################################
# Getting data from pendulum angle trajectories.
# xx1=L1*np.sin(theta_array[0])
# yy1=-L1*np.cos(theta_array[0])
# xx2=xx1+L2*np.sin(theta_array[0]+theta_array[1])
# yy2=yy1-L2*np.cos(theta_array[0]+theta_array[1])
N = len(s_array[0]) # Need this for specifying length of simulation
# corners of the box
Ba = np.zeros((2,N))
Bb = np.zeros((2,N))
Bc = np.zeros((2,N))
Bd = np.zeros((2,N))
# corners of the jack
J0 = np.zeros((2,N))
J1 = np.zeros((2,N))
J2 = np.zeros((2,N))
J3 = np.zeros((2,N))
for i in range(N):
xb = s_array[0,i]
yb = s_array[1,i]
thb = s_array[2,i]
xj = s_array[3,i]
yj = s_array[4,i]
thj = s_array[5,i]
gwa = g(xb,yb,0)
gab = g(0,0,thb)
gwb = gwa*gab # TRANSFORMATION FOR CENTER OF BOX
gwc = g(xj,yj,0)
gcd = g(0,0,thj)
gwd = gwc*gcd # TRANSFORMATION FOR CENTER OF JACK
t_wb = np.array(gwb).astype(np.float64)
t_wd = np.array(gwd).astype(np.float64)
Ba[:,i] = t_wb.dot(np.array([L/2,L/2,0,1]))[0:2]
Bb[:,i] = t_wb.dot(np.array([-L/2,L/2,0,1]))[0:2]
Bc[:,i] = t_wb.dot(np.array([-L/2,-L/2,0,1]))[0:2]
Bd[:,i] = t_wb.dot(np.array([L/2,-L/2,0,1]))[0:2]
J0[:,i] = t_wd.dot(np.array([l/2,0,0,1]))[0:2]
J1[:,i] = t_wd.dot(np.array([0,l/2,0,1]))[0:2]
J2[:,i] = t_wd.dot(np.array([-l/2,0,0,1]))[0:2]
J3[:,i] = t_wd.dot(np.array([0,-l/2,0,1]))[0:2]
####################################
# Using these to specify axis limits.
xm = -1.5 #np.min(xx1)-0.5
xM = 1.5 #np.max(xx1)+0.5
ym = -1.5 #np.min(yy1)-2.5
yM = 1.5 #np.max(yy1)+1.5
###########################
# Defining data dictionary.
# Trajectories are here.
data=[
# note that except for the trajectory (which you don't need this time),
# you don't need to define entries other than "name". The items defined
# in this list will be related to the items defined in the "frames" list
# later in the same order. Therefore, these entries can be considered as
# labels for the components in each animation frame
dict(name='Box'),
dict(name='Jack'),
dict(name='Jack'),
]
################################
# Preparing simulation layout.
# Title and axis ranges are here.
layout=dict(autosize=False, width=1000, height=750,
xaxis=dict(range=[xm, xM], autorange=False, zeroline=False,dtick=1),
yaxis=dict(range=[ym, yM], autorange=False, zeroline=False,scaleanchor = "x",dtick=1),
title='Jack in Box Simulation',
hovermode='closest',
updatemenus= [{'type': 'buttons',
'buttons': [{'label': 'Play','method': 'animate',
'args': [None, {'frame': {'duration': T, 'redraw': False}}]},
{'args': [[None], {'frame': {'duration': T, 'redraw': False}, 'mode': 'immediate',
'transition': {'duration': 0}}],'label': 'Pause','method': 'animate'}
]
}]
)
########################################
# Defining the frames of the simulation.
# This is what draws the lines from
# joint to joint of the pendulum.
frames=[dict(data=[# first three objects correspond to the arms and two masses,
# same order as in the "data" variable defined above (thus
# they will be labeled in the same order)
dict(x=[Ba[0,k],Bb[0,k],Bc[0,k],Bd[0,k],Ba[0,k]],
y=[Ba[1,k],Bb[1,k],Bc[1,k],Bd[1,k],Ba[1,k]],
mode='lines',
line=dict(color='black', width=2),
),
dict(x=[J0[0,k],J2[0,k]],
y=[J0[1,k],J2[1,k]],
mode='lines',
line=dict(color='blue', width=2),
),
dict(x=[J1[0,k],J3[0,k]],
y=[J1[1,k],J3[1,k]],
mode='lines',
line=dict(color='blue', width=2),
),
]) for k in range(N)]
#######################################
# Putting it all together and plotting.
figure1=dict(data=data, layout=layout, frames=frames)
iplot(figure1)
